ABB IRB 910INV Product Manual page 682

5 Repair
5.7.4 Replacing the axis-4 motor sub-assembly
Continued
Equipment
Calibration tool box, Axis Calibra-
tion
24 VDC power supply
Belt tension adjustment tool set,
stage two of axis 4
Sonic tension meter
Handheld dynamometer
i
Required consumables
Consumable
Cable straps
Grease
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Continues on next page
682
The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, manual calibration is used as default.
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
© Copyright 2019-2022 ABB. All rights reserved.
Article number Note
3HAC074119-001 Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot.
- Used to release the motor brakes.
- Included in the special toolkit
3HAC073070-001.
Used to adjust the tension of axis-
4 timing belt.
Special tool for L2
- Used for measuring the timing
belt tension.
- Used for measuring the timing
belt tension.
Article number Note
-
3HAC029132-001 FM 222
Used to lubricate the cable har-
ness.
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Product manual - IRB 910INV
i
Reference calibration
798.
3HAC068055-001 Revision: K